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Digital Anastylosis of the Octagon in Ephesos

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Digital Anastylosis of the Octagon in Ephesos Digital Anastylosis of the Octagon in Ephesos BARBARA THUSWALDNER, SIMON FLORY,¨ ROBERT KALASEK, MICHAEL HOFER Vienna University of Technology and QI-XING HUANG Stanford University and HILKE THUR¨ Austrian Academy of Sciences Anastylosis is the archaeological and architectural reconstruction of a ruined monument at the historic site after careful study of the remaining original elements. We present research results concerning 3D technologies that are used in the digital anastylosis of cultural heritage monu- ments. Based on current state-of-the-art research we present 3D data collection, digital artefact reconstruction, and digital reassembly of existing fragments, illustrated by means of the Octagon monument in Ephesos, Turkey. Our focus is on methods that belong to geometry processing. Categories and Subject Descriptors: I.3.5 [Computer Graphics]: Computational Geometry and Object Modeling, Geometric algorithms, languages, and systems; Curve, surface, solid, and object representations. General Terms: Algorithms, Measurement Additional Key Words and Phrases: Anastylosis, 3D data acquisition, global and local registration, digital surface reconstruction, digital reassembly, visual computing. Author’s address: Barbara Thuswaldner, Institute of History and Theory of Architecture and Historic Building Survey, TU Vienna, Karlsplatz 13, A-1040 Vienna; email: bar- [email protected]; Simon Fl¨oryand Michael Hofer, Geometric Modeling and Industrial Geometry, TU Vienna, Wiedner Haupstr. 8-10/104, A-1040 Vienna; email: flo- [email protected]; email: [email protected]; Robert Kalasek, Department of Spatial Development, Infrastructure, and Environmental Planning, TU Vienna, Operngasse 11, A-1040 Wien, Austria; email: [email protected]; Qi-Xing Huang, Computer Graphics Lab- oratory, Stanford University, 353 Serra Mall, Stanford, CA 94305; email: [email protected]; Hilke Th¨ur,Institute for Studies of Ancient Culture, Austrian Academy of Sciences, B¨ackerstr. 13, A-1010 Vienna, email: [email protected]; The authors acknowledge support by the Austrian Science Fund (FWF) under grant P18865, by the Austrian Archaeological Institute, and the Austrian Academy of Sciences. Our special thanks go to Friedrich Krinzinger and Marina D¨oringfor their ongoing support in this project. The historic photos of 1905 shown in the article are courtesy of the Austrian Archaeological Institute (OAI).¨ Permission to make digital/hard copy of all or part of this material without fee for personal or classroom use provided that the copies are not made or distributed for profit or commercial advantage, the ACM copyright/server notice, the title of the publication, and its date appear, and notice is given that copying is by permission of the ACM, Inc. To copy otherwise, to republish, to post on servers, or to redistribute to lists requires prior specific permission and/or a fee. c 2007 ACM XXXX-YYYY/2007/ZZZZ-0001 $5.00 ACM Journal on Computers and Cultural Heritage, Vol. V, No. N, December 2007, Pages 1–0??. 2 · B. Thuswaldner et al. Fig. 1. Photos of the monument site in Ephesos, Turkey (left) 1905 and (right) 2005. In the left hand side of each photo we see the remainders of the Octagon, in the right hand side we see the Celsus library after excavation and the anastylosis result. 1. INTRODUCTION The digital reconstruction of archaeological findings has attracted many researchers to work on this challenging topic. Several ambitious interdisciplinary projects have been undertaken to push the frontiers of research on hardware, software, and human computer interaction to develop tools that digitally support the traditional work of archaeologists and their co-workers in related fields. Nowadays a typical excavation site is interdisciplinary with researchers ranging from archaeologists and anthro- pologists to geologists and geodesists. Research in computer science and especially geometry processing provides important modern tools to support the traditional work in all of the above fields. In the present article we present research results concerning technologies that support the anastylosis of cultural heritage monuments. Anastylosis is the pro- cess of reconstructing a ruined monument at the historic site using the available original fragments and complementary “new” fragments. Besides the intrinsic re- search challenge a major motivation to re-erect historic buildings is tourism. The famous historic city Ephesos in Turkey—whose origins date back over 5000 years and which is being excavated for more than 100 years already—is visited by more than 2 million tourists every year. Of course, the attractiveness of a historic site raises significantly with the amount of architecture that has been reconstructed and makes the visit a more enjoyable experience for visitors from all over the world. For example, in Ephesos the Celsus library was built around 100 AD, re-erected from 1970 to 1978, and soon became an awe-inspiring landmark for every visitor (Fig. 1). “Best-viewed in-situ with your own eyes” still outperforms (and possibly always will) even the most advanced visualization technologies that use the latest hard- and software to provide a purely virtual reality experience. Thus there is a need to rebuild architecture that was ruined by influences ranging from earth quakes to simple decay over time. As a matter of course, anastylosis is highly controversial. How can we faithfully re-erect a ruined historic monument if there are no building plans or drawings that ACM Journal on Computers and Cultural Heritage, Vol. V, No. N, December 2007. Digital Anastylosis of the Octagon in Ephesos · 3 MarbleMarble street street HadriansHadrians gate gate CuretesCuretes street street HeroonHeroon OctagonOctagon terraceterrace house house 2 2 HexagonHexagon Fig. 2. (Left) Photo of the Octagon (1905). (Right) Map of the monument site in Ephesos (courtesy of [Miltner 1959]). could guide the reconstruction? The best one can ask for is that the building under consideration has been mentioned and hopefully described in some historic text so that we know about its existence and what it roughly looked like. For a faithful anastylosis one has to carefully study the remaining original fragments and try to solve the posed “3D-puzzle” of how to put together the remaining fragments in the correct way. Compared to a regular jigsaw puzzle, where we usually have all the parts and just need to put them together in a correct way, the challenge posed to reassemble a monument from a small number of remaining deteriorated fragments is a good deal bigger. The needed algorithms and tools to digitally solve the posed problem in a semi-automatic way are the topic of this paper. Today, a fully automatic solution seems possible only if the available data is almost complete, which is hardly ever the case. We illustrate the current state-of-the-art by means of the anastylosis of the Octagon monument (Figs. 1 and 2) in Ephesos, Turkey. Using 3D digital technologies for the whole anastylosis process is not only helping the process itself, but is also beneficial for virtual or augmented reality representa- tions that can be generated as a side product. While until a few years ago virtual cultural heritage was often simply the result of skilled geometric modeling and computer graphics, it is now becoming a more faithful result of visual computing which combines computer vision, computer graphics, and human computer interac- tion technologies. Computer vision provides the basic technologies to acquire and reconstruct three-dimensional digital models, and computer graphics has the tools to visualize these enormous amounts of data. Human computer interaction is nec- essary in several steps of the anastylosis process and advanced interfaces simplify and improve the workflow considerably. 1.1 The Octagon in Ephesos At the beginning of the 20th century three monuments were excavated at the western end of the Curetes Street in Ephesos under the guidance of R. Heberdey [Heberdey 1905]. These monuments are lined up from west to east on the southern side of the street (see the site plan in Fig. 2 (right)). In the first systematic description by W. ACM Journal on Computers and Cultural Heritage, Vol. V, No. N, December 2007. 4 · B. Thuswaldner et al. Fig. 3. Photos from the year 1905 showing components of the Octagon. The photo at right shows manually reassembled parts. (Photos are courtesy of the Austrian Archaeological Institute). Wilberg, the monuments already received the names they are referred to commonly today [Alzinger 1974]. The most western one is called Hadrians gate, the one in the middle Heroon and the eastern one Octagon. The object of our interest is the Octagon. An early assessment of the excavations showed that many components of the building still exist (Fig. 3); therefore a first reconstruction could be established (Fig. 4). Essentially, this reconstruction is still valid until today. Despite references to the Octagon in numerous scientific treatments and publications since its discovery [Heberdey 1905; Alzinger 1974; Oberleitner et al. 1978; Th¨ur1990; Berns 2003] a thorough reconstruction including all remaining fragments located on their original position does not seem to exist until now. In the present paper we outline such a reconstruction strongly relying on the aid of modern 3D scanners and extensive computer calculations. Before we give the details we start with a description of the Octagon, which serves as a paradigm for the application of these new techniques for the reconstruction of ancient architecture. The Octagon, which was a mausoleum, was built on a quadratic basal surface. In total, it is 13 meters high. Its front elevation is subdivided into three parts as follows. Beyond a substructure consisting of three steps there is a base building measuring nine times nine meters. The interior of this structure contained the sarcophagus. Beyond the base profile, the outside of the base building is ornamented with slightly curved rectangular surfaces whose upper part is finished by a moulding. Behind the marble face, the entire base building is made of opus caementicium, which can be regarded as the ancient predecessor of concrete.
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